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Method of Finite Elements I

Chapter 2b

2nd order Effects & Structural Dynamics:

Modal Analysis with the DSM

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Goals of this Chapter

• 2nd Order Effects
• Review of structural dynamics
• Dynamic analysis with the DSM
• DSM software workflow for …
• Modal analysis

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2nd Order Effects

or the influence of the axial normal force

Normal forces change the stiffness of the structure !

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Geometrical Stiffness Matrix

Truss
Very small element rotation

=> Member end forces (=nodal forces p )

perpendicular to axis due to initial N

kG = geometrical stiffness matrix of a truss element

NOTE:
It’s only a
approximation

p =( k + kG ) u
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Beams: Geometrical Stiffness

kG = geometrical stiffness matrix of a beam element

kG =

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Linear Static Analysis (2nd order)

What are the 2nd order nodal displacements for
a given structure due to a given load ?

Global system of equations

( K + KG ) U = F U = ( K + KG ) -1 F

Inversion possible only if K + KG is non-singular, i.e.

- the structure is sufficiently supported (= stable)
- initial normal forces are not too big

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Linear Static Analysis (2nd order)

Workflow of computer program
1. Perform 1st order analysis
2. Calculate resulting axial forces in elements (=Ne)
3. Build element geometrical stiffness matrices due to Ne
4. Add geometrical stiffness to global stiffness matrix
5. Solve global system of equations (=> displacements)
6. Calculate element results

NOTE: Only approximate solution !

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Stability Analysis
How much can a given load be increased until a
given structure becomes unstable ?
KG = f(Nmax)
KG(Nmax) = λmax KG(N0) = λmax KG0
Nmax = λmax N0

2nd order analysis No additional load possible

(K + λmax KG0) U = F (K + λmax KG0) ΔU = ΔF = 0

linear algebra
(A - λ B) x = 0 Eigenvalue problem

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Stability Analysis
Eigenvalue problem e.g. Buckling of a column
(A - λ B) x = 0 (K - λ KG0) x = 0

Solution
λ = eigenvalue λ = critical load factor
x = eigenvector x = buckling mode

λF

x
λ N0

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Stability Analysis
Workflow of computer program
1. Perform 1st order analysis
2. Calculate resulting axial forces in elements (=N0)
3. Build element geometrical stiffness matrices due to N0
4. Add geometrical stiffness to global stiffness matrix
5. Solve eigenvalue problem

NOTE: Only approximate solution !

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Structural Dynamics
Common cyclic or periodic loads
• people rhythmically dancing (0.5- 3 Hz)
• Marching soldiers (1 Hz)
• Rotation machinery (0.2 – 50 Hz)
• wind gusts (0.3 – 2 Hz)
• earthquakes (0.4 – 6 Hz)

Newton’s law: force = mass x acceleration

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Dynamic Resonance
Truss element under cyclic load
M

1
load frequency Ω =
T
elastic material
no damping UDYN dynamic response
USTA static response

load independent
Ω1 resonance frequency 1 𝐸𝐸 𝐴𝐴
Ω1 = 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠
= eigenfrequency 2π L M proportional to
mass
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Eigenmodes
Supported beam Frame structure

Ωi = eigenfrequency i
eigenmode i
deformed shape = eigenform i

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Eigenmodes

How many eigenmodes do exist for a certain structure ?

• physical structure: unlimited number
• numerical model: number of dofs

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Modal Analysis
Goal of structural design for dynamic effects:
load frequencies ≠ eigenfrequencies

Find the dynamic eigenmodes (frequency/form)

this process is known as
modal analysis

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DSM: Dynamic Nodal Forces

Statics Dynamics
Nodal displacements Nodal accelerations

P1 P1

Nodal forces: p=ku Inertia nodal p = m ü (t)

forces:
m : (element) mass matrix
Equilibrum equation:
Nodal forces of a ‘vibrating’ element: p = k u(t) + m ü (t)

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Element: Mass Matrix

.. e.g. m24 =
UXE=1
E
UXS UYS UZS UXE UYE UZE reaction
in global direction Y
FXS = m11 m12 m13 m14 m15 m16
at start node S
FYS = m22 m23 m24 m25 m26
MZS = m33 m34 m35 m36 due to a
FXE = m44 m45 m46 S
unit acceleration in
FYE = symm. m55 m56 FYS global direction X
MZE = m66 at end node E

p = m ü (t) Element mass matrix in global orientation

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Beam: Mass Matrix

Lumped mass Distributed mass

NOTE:
It’s only a
approximation

m m
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Global System of Equations

F(t) = global load vector = Assembly of all fe
K = global stiffness matrix = Assembly of all ke
M = global mass matrix = Assembly of all me
U(t) = global displacement vector
̈
U(t) = global acceleration vector

Equilibrium at every node of the structure:

̈
F(t) = K U(t) + M U(t)

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Modal Analysis
What are the eigenmodes of a given structure ?

Global system of equations ̈ = F(t)

K U(t) + M U(t)
Harmonic displacements
for eigenmode i (Ei , Ωi) Ui(t) = Ei cos(2π Ωi t)

( K – (2π Ωi t)2 M ) Ei cos(2π Ωi t) = 0 load independent!

valid at any time ( K – (2π Ωi t)2 M ) Ei = 0

Ωi = (dynamic) eigenfrequency
Solution of eigenvalue problem:
Ei = (dynamic) eigenform
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Eigenmodes and Deformations

Numerical structural model: Deformations of a structure
Every deformed configuration can be described as…

u5
u6
u4
u3
or
u2
u1

φ1 φ2 φ3 φ4 φ5 φ6
Nodal dof and corresponding amplitudes ui Eigenmodes and corresponding amplitudes φi

U = {u1, u2, u3, u4, u5, u6} U= φ1 q1 + φ2 q2 +...+ φ6 q6}= Φ q

equivalent
ui nodal displacement φi modal coordinate
Every mode is like a independent structure !
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Types of Modal Analysis

Time history analysis Response spectra analysis

load-time
function

T1 Ti Tj

response spectrum

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Modal Analysis
Workflow of computer program

1. System identification: Elements, nodes, support and loads

2. Build element stiffness and mass matrices
3. Assemble global stiffness and mass matrices
4. Solve eigenvalue problem for a number of eigenmodes
5. Perform further analysis (time-history or response spectra)

NOTE: Only approximate solution !

Method of Finite Elements I